冗余驱动机器人时间最优轨迹的一种高效算法
A Computationally Efficient Algorithm to Find Time-Optimal Trajectory of Redundantly Actuated Robots Moving on a Specified Path
摘要：
冗余驱动机器人在指定路径上运动的时间优化问题是一个具有挑战性的问题。虽然这个问题已经得到了很好的探讨，并提出了基于相平面分析的解决方案，但仍然有一些未解决的问题，关于解决方案曲线的计算。在本文中，我们探讨了最大速度曲线（MVC）的特点，并提出了一个有效的算法来建立的解决方案曲线。然后，我们提出了一个简单的方法来计算的最大或最小可能的加速度的基础上的模式的饱和致动器的路径，这大大降低了计算成本。最后给出了两个数值例子来说明问题和解决方法。
英文摘要：
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several unresolved issues regarding calculation of solution curves. In this paper, we explore the characteristics of the maximum velocity curve (MVC) and propose an efficient algorithm to establish the solution curve. Then we propose a straightforward method to calculate the maximum or minimum possible acceleration on the path based on the pattern of saturated actuators, which substantially reduces the computational cost. Two numerical examples are provided to illustrate the issues and the solutions.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
